Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 197 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 197 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 558.0575 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -79870.961 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 558.0575

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -79870.961

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 197 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 214007,6248.557,-1301.327,27,1.7,27,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.012,0.208

_SM_DEPTHo 3.65 KALMAN_X 244095.5,-21.5,-200.5,-483117.3,1340.6

_SM_ANGLEo -51.0 KALMAN_Y 44728.2,-274.9,1114.0,94073.5,-13878.0

GPS2 214609,6248.542,-1301.241,13,2.0,13,-11.9 MHEAD_RNG_PITCHd_Wd 15.2,50325,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21630,52.22,0.765,0,0,602,558.06 ALTIM_BOTTOM_PING 700.3,67.9

SM_GC 3.65,12.05,0.00,0.00,0.027,0.000,0.000,34,1893,603,-11.26,-0.20,558.06 _24V_AH 23.3,44.624

IRIDIUM_FIX 6221.17,-1302.85,251207,191943 _10V_AH 10.1,21.442

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53672,1046

HUMID 2037 CFSIZE 260165632,246177792

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.60 GPS 261207,035638,6249.083,-1259.630,36,1.1,36,-11.9

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 96 57.53 SBE_CT 766 24 428.50

Roll_motor 97 77 176.48 SBE_O2 706 19 312.76

VBD_pump_during_apogee 462 1315 14178.20 WL_BB2F 653 105 1598.37

VBD_pump_during_surface 52 764 930.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.82 nil 0 0 0.00

Iridium_during_connect 34 160 129.04 nil 0 0 0.00

Iridium_during_xfer 181 223 942.58

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.47

TT8 1822 19 364.41

LPSleep 17357 2 383.94

TT8_Active 653 19 130.63

TT8_Sampling 2166 39 870.77

TT8_CF8 466 45 215.65

TT8_Kalman 33 81 27.57

Analog_circuits 1744 12 211.46

GPS_charging 0 0 0.00

Compass 2130 8 172.13

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -3.65 0.000 2 0.000 0.000 28 1882 689

29 -0.95 -146.6 3.6 -0.0 0 215 10.95 2.58 -166.77 0.000 4 0.097 0.075 2289 494 3477

441 -0.95 -146.6 27.9 -10.3 19 445 0.00 2.50 0.00 0.000 6 0.000 0.040 2289 1913 3476

767 -0.95 -146.6 61.3 -8.8 35 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1916 3477

1077 -0.95 -146.6 80.7 -6.7 50 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1916 3476

1386 -0.95 -146.6 103.8 -5.6 65 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1916 3477

1695 -0.95 -146.6 130.1 -8.5 80 1696 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1917 3477

2003 -0.95 -146.6 151.5 -7.0 95 2004 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1916 3476

2312 -0.95 -146.6 173.5 -7.6 110 2317 0.00 2.47 0.00 0.000 4 0.000 0.048 2288 3295 3477

2358 -0.95 -146.6 177.0 -7.9 112 2362 0.00 2.50 0.00 0.000 6 0.000 0.043 2289 1898 3476

2678 -0.95 -146.6 201.0 -6.8 128 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

2987 -0.95 -146.6 224.6 -7.7 143 2994 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3300 3476

3044 -0.95 -146.6 229.2 -7.7 145 3048 0.00 2.50 0.00 0.000 6 0.000 0.043 2289 1900 3476

3365 -0.95 -146.6 253.4 -7.4 161 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

3675 -0.95 -146.6 276.9 -7.6 176 3679 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3303 3476

3714 -0.95 -146.6 279.8 -7.5 178 3718 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1897 3477

4039 -0.95 -146.6 303.7 -7.5 194 4040 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

4348 -0.95 -146.6 327.0 -7.2 209 4349 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3477

4658 -0.95 -146.6 347.7 -6.6 224 4662 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3304 3476

4723 -0.95 -146.6 352.3 -6.5 227 4728 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1898 3476

5050 -0.95 -146.6 374.8 -7.2 243 5051 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3477

5360 -0.95 -146.6 397.4 -7.7 258 5364 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3296 3476

5414 -0.95 -146.6 401.9 -8.2 260 5421 0.00 2.53 0.00 0.000 6 0.000 0.045 2289 1907 3477

5730 -0.95 -146.6 426.7 -7.6 276 5731 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3477

6039 -0.95 -146.6 449.3 -7.1 291 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

6348 -0.95 -146.6 472.1 -7.3 306 6349 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

6658 -0.95 -146.6 494.7 -7.4 321 6662 0.00 2.53 0.00 0.000 4 0.000 0.052 2289 3295 3475

6712 -0.95 -146.6 498.9 -8.3 323 6719 0.00 2.53 0.00 0.000 6 0.000 0.048 2289 1898 3476

7027 -0.95 -146.6 521.3 -7.3 339 7029 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

7337 -0.95 -146.6 543.1 -6.8 354 7341 0.00 2.55 0.00 0.000 4 0.000 0.054 2289 3300 3476

7391 -0.95 -146.6 546.9 -7.3 356 7398 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1902 3475

7706 -0.95 -146.6 568.7 -7.0 372 7711 0.00 2.55 0.00 0.000 4 0.000 0.054 2289 3299 3475

7755 -0.95 -146.6 572.3 -7.1 374 7760 0.00 2.53 0.00 0.000 6 0.000 0.048 2289 1899 3475

8077 -0.95 -146.6 594.8 -6.9 390 8078 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

8386 -0.95 -146.6 615.7 -6.7 405 8387 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

8695 -0.95 -146.6 635.9 -6.4 420 8696 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3474

9005 -0.95 -146.6 653.7 -5.3 435 9006 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

9314 -0.95 -146.6 671.2 -5.7 450 9315 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

9623 -0.95 -146.6 691.3 -6.5 465 9627 0.00 2.58 0.00 0.000 4 0.000 0.057 2289 3300 3474

9662 -0.95 -146.6 694.2 -7.9 467 9666 0.00 2.55 0.00 0.000 6 0.000 0.051 2289 1901 3474

9987 -0.95 -146.6 717.7 -7.8 483 9989 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3474

10297 -0.95 -146.6 735.6 -5.5 498 10298 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3474

10607 -0.95 -146.6 753.5 -5.7 513 10608 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

10687 end dive: BOTTOM_OBSTACLE_DETECTED

state 10687 begin apogee

10692 -0.36 0.0 759.7 7.5 517 10820 0.60 0.00 124.68 1.315 6 0.076 0.000 2418 2095 2878

10821 end apogee: CONTROL_FINISHED_OK

state 10821 begin climb

10823 0.95 146.6 763.9 0.0 523 10954 1.27 2.72 122.72 1.292 4 0.053 0.067 2702 3492 2280

11209 0.98 169.6 747.6 5.3 540 11236 0.00 2.58 20.23 1.280 6 0.000 0.055 2703 2104 2186

11544 0.99 184.5 727.4 5.6 557 11564 0.00 0.00 13.65 1.284 6 0.000 0.000 2702 2104 2125

11873 0.99 184.5 708.8 6.2 573 11877 0.00 2.67 0.00 0.000 4 0.000 0.077 2703 691 2124

11934 0.99 184.5 704.5 7.3 576 11939 0.00 2.55 0.00 0.000 6 0.000 0.053 2703 2094 2124

12260 1.00 193.1 685.4 5.7 592 12270 0.00 0.00 8.20 1.290 6 0.000 0.000 2702 2095 2090

12569 1.02 206.5 667.5 5.6 607 12590 0.00 2.70 11.88 1.292 4 0.000 0.061 2704 3503 2035

12659 1.02 206.5 661.7 6.4 611 12663 0.00 2.60 0.00 0.000 6 0.000 0.054 2703 2091 2035

12984 1.05 229.1 643.2 5.3 627 13009 0.00 2.72 19.77 1.279 4 0.000 0.075 2703 689 1944

13076 1.05 233.9 637.9 5.9 631 13088 0.00 2.55 5.43 1.206 6 0.000 0.048 2703 2105 1924

13396 1.08 251.3 620.8 5.5 647 13417 0.12 0.00 15.82 1.253 6 0.048 0.000 2750 2106 1852

13726 1.08 251.3 596.0 7.6 663 13727 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2108 1852

14035 1.08 251.3 572.4 7.6 678 14036 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2108 1852

14344 1.08 251.3 548.1 7.8 693 14348 0.00 2.67 0.00 0.000 4 0.000 0.068 2750 685 1853

14393 1.08 251.3 544.0 8.7 695 14397 0.00 2.53 0.00 0.000 6 0.000 0.044 2750 2105 1853

14714 1.08 251.3 518.6 7.9 711 14715 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2106 1853

15023 1.08 251.3 492.9 8.3 726 15027 0.00 2.55 0.00 0.000 4 0.000 0.055 2750 3504 1853

15072 1.08 251.3 488.6 8.3 728 15077 0.00 2.53 0.00 0.000 6 0.000 0.047 2750 2099 1853

15394 1.08 251.3 463.1 8.1 744 15395 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1854

15703 1.08 251.3 436.3 8.7 759 15704 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1854

16012 1.08 251.3 408.9 8.7 774 16013 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2098 1855

16321 1.08 251.3 382.0 8.5 789 16322 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1855

16630 1.08 251.3 356.8 7.8 804 16632 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1855

16940 1.08 251.3 330.9 8.8 819 16941 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2098 1856

17249 1.08 251.3 302.7 8.6 834 17250 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1856

17558 1.08 251.3 277.0 8.5 849 17560 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1856

17867 1.08 251.3 252.3 8.1 864 17869 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2098 1857

18177 1.08 251.3 226.4 8.0 879 18179 0.12 0.00 0.00 0.000 6 0.083 0.000 2724 2099 1857

18486 1.08 251.3 203.4 7.5 894 18487 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2098 1857

18795 1.08 251.3 180.2 8.2 909 18796 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2098 1857

19105 1.08 251.3 152.2 9.0 924 19109 0.00 2.55 0.00 0.000 4 0.000 0.050 2725 3501 1857

19153 1.08 251.3 148.1 8.8 926 19158 0.00 2.50 0.00 0.000 6 0.000 0.041 2724 2098 1858

19474 1.08 251.3 122.5 7.9 942 19478 0.00 2.58 0.00 0.000 4 0.000 0.062 2724 695 1858

19540 1.08 251.3 117.3 7.2 945 19544 0.00 2.45 0.00 0.000 6 0.000 0.038 2724 2105 1858

19868 1.08 251.3 93.6 7.5 961 19869 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2108 1858

20176 1.08 251.3 67.7 10.2 976 20177 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2108 1858

20485 1.08 251.3 44.9 6.3 991 20490 0.00 2.60 0.00 0.000 4 0.000 0.061 2724 697 1858

20535 1.12 286.0 42.5 5.0 993 20570 0.00 2.45 29.02 0.848 6 0.000 0.039 2724 2109 1711

20899 1.12 286.0 14.0 7.9 1011 20900 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2109 1711

21208 1.32 445.7 3.0 1.2 1026 21296 0.22 0.00 84.38 0.782 6 0.039 0.000 2792 2112 1060

21617 1.56 646.2 3.0 0.0 1046 21626 0.20 0.00 6.82 0.815 2 0.070 0.000 2837 2113 1016

21627 end climb: NO_VERTICAL_VELOCITY

state 21627 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	197	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	558.0575	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-79870.961	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	214007,6248.557,-1301.327,27,1.7,27,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.012,0.208
_SM_DEPTHo	3.65	KALMAN_X	244095.5,-21.5,-200.5,-483117.3,1340.6
_SM_ANGLEo	-51.0	KALMAN_Y	44728.2,-274.9,1114.0,94073.5,-13878.0
GPS2	214609,6248.542,-1301.241,13,2.0,13,-11.9	MHEAD_RNG_PITCHd_Wd	15.2,50325,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21630,52.22,0.765,0,0,602,558.06	ALTIM_BOTTOM_PING	700.3,67.9
SM_GC	3.65,12.05,0.00,0.00,0.027,0.000,0.000,34,1893,603,-11.26,-0.20,558.06	_24V_AH	23.3,44.624
IRIDIUM_FIX	6221.17,-1302.85,251207,191943	_10V_AH	10.1,21.442
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53672,1046
HUMID	2037	CFSIZE	260165632,246177792
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.60	GPS	261207,035638,6249.083,-1259.630,36,1.1,36,-11.9
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	96	57.53	SBE_CT	766	24	428.50
Roll_motor	97	77	176.48	SBE_O2	706	19	312.76
VBD_pump_during_apogee	462	1315	14178.20	WL_BB2F	653	105	1598.37
VBD_pump_during_surface	52	764	930.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.82	nil	0	0	0.00
Iridium_during_connect	34	160	129.04	nil	0	0	0.00
Iridium_during_xfer	181	223	942.58
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.47
TT8	1822	19	364.41
LPSleep	17357	2	383.94
TT8_Active	653	19	130.63
TT8_Sampling	2166	39	870.77
TT8_CF8	466	45	215.65
TT8_Kalman	33	81	27.57
Analog_circuits	1744	12	211.46
GPS_charging	0	0	0.00
Compass	2130	8	172.13
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-3.65	0.000	2	0.000	0.000	28	1882	689
29	-0.95	-146.6	3.6	-0.0	0	215	10.95	2.58	-166.77	0.000	4	0.097	0.075	2289	494	3477
441	-0.95	-146.6	27.9	-10.3	19	445	0.00	2.50	0.00	0.000	6	0.000	0.040	2289	1913	3476
767	-0.95	-146.6	61.3	-8.8	35	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1916	3477
1077	-0.95	-146.6	80.7	-6.7	50	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1916	3476
1386	-0.95	-146.6	103.8	-5.6	65	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1916	3477
1695	-0.95	-146.6	130.1	-8.5	80	1696	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1917	3477
2003	-0.95	-146.6	151.5	-7.0	95	2004	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1916	3476
2312	-0.95	-146.6	173.5	-7.6	110	2317	0.00	2.47	0.00	0.000	4	0.000	0.048	2288	3295	3477
2358	-0.95	-146.6	177.0	-7.9	112	2362	0.00	2.50	0.00	0.000	6	0.000	0.043	2289	1898	3476
2678	-0.95	-146.6	201.0	-6.8	128	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
2987	-0.95	-146.6	224.6	-7.7	143	2994	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3300	3476
3044	-0.95	-146.6	229.2	-7.7	145	3048	0.00	2.50	0.00	0.000	6	0.000	0.043	2289	1900	3476
3365	-0.95	-146.6	253.4	-7.4	161	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
3675	-0.95	-146.6	276.9	-7.6	176	3679	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3303	3476
3714	-0.95	-146.6	279.8	-7.5	178	3718	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1897	3477
4039	-0.95	-146.6	303.7	-7.5	194	4040	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
4348	-0.95	-146.6	327.0	-7.2	209	4349	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3477
4658	-0.95	-146.6	347.7	-6.6	224	4662	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3304	3476
4723	-0.95	-146.6	352.3	-6.5	227	4728	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1898	3476
5050	-0.95	-146.6	374.8	-7.2	243	5051	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3477
5360	-0.95	-146.6	397.4	-7.7	258	5364	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3296	3476
5414	-0.95	-146.6	401.9	-8.2	260	5421	0.00	2.53	0.00	0.000	6	0.000	0.045	2289	1907	3477
5730	-0.95	-146.6	426.7	-7.6	276	5731	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3477
6039	-0.95	-146.6	449.3	-7.1	291	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
6348	-0.95	-146.6	472.1	-7.3	306	6349	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
6658	-0.95	-146.6	494.7	-7.4	321	6662	0.00	2.53	0.00	0.000	4	0.000	0.052	2289	3295	3475
6712	-0.95	-146.6	498.9	-8.3	323	6719	0.00	2.53	0.00	0.000	6	0.000	0.048	2289	1898	3476
7027	-0.95	-146.6	521.3	-7.3	339	7029	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
7337	-0.95	-146.6	543.1	-6.8	354	7341	0.00	2.55	0.00	0.000	4	0.000	0.054	2289	3300	3476
7391	-0.95	-146.6	546.9	-7.3	356	7398	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1902	3475
7706	-0.95	-146.6	568.7	-7.0	372	7711	0.00	2.55	0.00	0.000	4	0.000	0.054	2289	3299	3475
7755	-0.95	-146.6	572.3	-7.1	374	7760	0.00	2.53	0.00	0.000	6	0.000	0.048	2289	1899	3475
8077	-0.95	-146.6	594.8	-6.9	390	8078	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
8386	-0.95	-146.6	615.7	-6.7	405	8387	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
8695	-0.95	-146.6	635.9	-6.4	420	8696	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3474
9005	-0.95	-146.6	653.7	-5.3	435	9006	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
9314	-0.95	-146.6	671.2	-5.7	450	9315	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
9623	-0.95	-146.6	691.3	-6.5	465	9627	0.00	2.58	0.00	0.000	4	0.000	0.057	2289	3300	3474
9662	-0.95	-146.6	694.2	-7.9	467	9666	0.00	2.55	0.00	0.000	6	0.000	0.051	2289	1901	3474
9987	-0.95	-146.6	717.7	-7.8	483	9989	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3474
10297	-0.95	-146.6	735.6	-5.5	498	10298	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3474
10607	-0.95	-146.6	753.5	-5.7	513	10608	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
10687	end dive: BOTTOM_OBSTACLE_DETECTED
state	10687	begin apogee
10692	-0.36	0.0	759.7	7.5	517	10820	0.60	0.00	124.68	1.315	6	0.076	0.000	2418	2095	2878
10821	end apogee: CONTROL_FINISHED_OK
state	10821	begin climb
10823	0.95	146.6	763.9	0.0	523	10954	1.27	2.72	122.72	1.292	4	0.053	0.067	2702	3492	2280
11209	0.98	169.6	747.6	5.3	540	11236	0.00	2.58	20.23	1.280	6	0.000	0.055	2703	2104	2186
11544	0.99	184.5	727.4	5.6	557	11564	0.00	0.00	13.65	1.284	6	0.000	0.000	2702	2104	2125
11873	0.99	184.5	708.8	6.2	573	11877	0.00	2.67	0.00	0.000	4	0.000	0.077	2703	691	2124
11934	0.99	184.5	704.5	7.3	576	11939	0.00	2.55	0.00	0.000	6	0.000	0.053	2703	2094	2124
12260	1.00	193.1	685.4	5.7	592	12270	0.00	0.00	8.20	1.290	6	0.000	0.000	2702	2095	2090
12569	1.02	206.5	667.5	5.6	607	12590	0.00	2.70	11.88	1.292	4	0.000	0.061	2704	3503	2035
12659	1.02	206.5	661.7	6.4	611	12663	0.00	2.60	0.00	0.000	6	0.000	0.054	2703	2091	2035
12984	1.05	229.1	643.2	5.3	627	13009	0.00	2.72	19.77	1.279	4	0.000	0.075	2703	689	1944
13076	1.05	233.9	637.9	5.9	631	13088	0.00	2.55	5.43	1.206	6	0.000	0.048	2703	2105	1924
13396	1.08	251.3	620.8	5.5	647	13417	0.12	0.00	15.82	1.253	6	0.048	0.000	2750	2106	1852
13726	1.08	251.3	596.0	7.6	663	13727	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2108	1852
14035	1.08	251.3	572.4	7.6	678	14036	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2108	1852
14344	1.08	251.3	548.1	7.8	693	14348	0.00	2.67	0.00	0.000	4	0.000	0.068	2750	685	1853
14393	1.08	251.3	544.0	8.7	695	14397	0.00	2.53	0.00	0.000	6	0.000	0.044	2750	2105	1853
14714	1.08	251.3	518.6	7.9	711	14715	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2106	1853
15023	1.08	251.3	492.9	8.3	726	15027	0.00	2.55	0.00	0.000	4	0.000	0.055	2750	3504	1853
15072	1.08	251.3	488.6	8.3	728	15077	0.00	2.53	0.00	0.000	6	0.000	0.047	2750	2099	1853
15394	1.08	251.3	463.1	8.1	744	15395	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1854
15703	1.08	251.3	436.3	8.7	759	15704	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1854
16012	1.08	251.3	408.9	8.7	774	16013	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2098	1855
16321	1.08	251.3	382.0	8.5	789	16322	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1855
16630	1.08	251.3	356.8	7.8	804	16632	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1855
16940	1.08	251.3	330.9	8.8	819	16941	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2098	1856
17249	1.08	251.3	302.7	8.6	834	17250	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1856
17558	1.08	251.3	277.0	8.5	849	17560	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1856
17867	1.08	251.3	252.3	8.1	864	17869	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2098	1857
18177	1.08	251.3	226.4	8.0	879	18179	0.12	0.00	0.00	0.000	6	0.083	0.000	2724	2099	1857
18486	1.08	251.3	203.4	7.5	894	18487	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2098	1857
18795	1.08	251.3	180.2	8.2	909	18796	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2098	1857
19105	1.08	251.3	152.2	9.0	924	19109	0.00	2.55	0.00	0.000	4	0.000	0.050	2725	3501	1857
19153	1.08	251.3	148.1	8.8	926	19158	0.00	2.50	0.00	0.000	6	0.000	0.041	2724	2098	1858
19474	1.08	251.3	122.5	7.9	942	19478	0.00	2.58	0.00	0.000	4	0.000	0.062	2724	695	1858
19540	1.08	251.3	117.3	7.2	945	19544	0.00	2.45	0.00	0.000	6	0.000	0.038	2724	2105	1858
19868	1.08	251.3	93.6	7.5	961	19869	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2108	1858
20176	1.08	251.3	67.7	10.2	976	20177	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2108	1858
20485	1.08	251.3	44.9	6.3	991	20490	0.00	2.60	0.00	0.000	4	0.000	0.061	2724	697	1858
20535	1.12	286.0	42.5	5.0	993	20570	0.00	2.45	29.02	0.848	6	0.000	0.039	2724	2109	1711
20899	1.12	286.0	14.0	7.9	1011	20900	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2109	1711
21208	1.32	445.7	3.0	1.2	1026	21296	0.22	0.00	84.38	0.782	6	0.039	0.000	2792	2112	1060
21617	1.56	646.2	3.0	0.0	1046	21626	0.20	0.00	6.82	0.815	2	0.070	0.000	2837	2113	1016
21627	end climb: NO_VERTICAL_VELOCITY
state	21627	begin surface